For the information of limit switch, we could check the input_pin_states. The code is 0x219A. The key is to check the pins "6, 7, 8" and "16, 17, 18).
PS. The pin state here also contains the information of interlock. The details can follow:
For the implementation of low-level controller, the code is:
It looks like the copley_fault_status_register (or 0x1002) gives more information (page 61 in All-CANopen_Programmers_Manual-Manual.pdf ). The bit value in use in EUI now is:
List the interested bit value of 0x1002 in the following:
Bit 9: Positive limit switch active
Bit 10: Negative limit switch active
Bit 27: In motion (I guess this can be seen as the "Actuator moving")
I do not find something called the "kill switch".